Why don't use std::unique_ptr<> as input parameter instead of std::unique_ptr<>& in this function:
|
virtual void |
|
publish(std::unique_ptr<MessageT, MessageDeleter> & msg) |
|
{ |
|
this->do_inter_process_publish(msg.get()); |
|
if (store_intra_process_message_) { |
|
// Take the pointer from the unique_msg, release it and pass as a void * |
|
// to the ipm. The ipm should then capture it again as a unique_ptr of |
|
// the correct type. |
|
// TODO(wjwwood): |
|
// investigate how to transfer the custom deleter (if there is one) |
|
// from the incoming unique_ptr through to the ipm's unique_ptr. |
|
// See: http://stackoverflow.com/questions/11002641/dynamic-casting-for-unique-ptr |
|
MessageT * msg_ptr = msg.get(); |
|
msg.release(); |
|
uint64_t message_seq = |
|
store_intra_process_message_(intra_process_publisher_id_, msg_ptr, typeid(MessageT)); |
|
rcl_interfaces::msg::IntraProcessMessage ipm; |
|
ipm.publisher_id = intra_process_publisher_id_; |
|
ipm.message_sequence = message_seq; |
|
auto status = rcl_publish(&intra_process_publisher_handle_, &ipm); |
|
if (RCL_RET_PUBLISHER_INVALID == status) { |
|
rcl_reset_error(); // next call will reset error message if not context |
|
if (rcl_publisher_is_valid_except_context(&intra_process_publisher_handle_)) { |
|
rcl_context_t * context = rcl_publisher_get_context(&intra_process_publisher_handle_); |
|
if (nullptr != context && !rcl_context_is_valid(context)) { |
|
// publisher is invalid due to context being shutdown |
|
return; |
|
} |
|
} |
|
} |
|
if (RCL_RET_OK != status) { |
|
rclcpp::exceptions::throw_from_rcl_error(status, "failed to publish intra process message"); |
|
} |
|
} else { |
|
// Always destroy the message, even if we don't consume it, for consistency. |
|
msg.reset(); |
|
} |
|
} |
I think it is strange because the the parameter is input parameter, not an input and output parameter. So we can use std::unique_ptr<> instead. Here is the guideline: https://herbsutter.com/2013/06/05/gotw-91-solution-smart-pointer-parameters/